Allow polling exited tasks

embassy-executor/src/raw/mod.rs

@@ -50,33 +50,32 @@ use super::SpawnToken;
 /// A task's complete life cycle is as follows:
 ///
 /// ```text
-///    ┌────────────┐   ┌────────────────────────┐
-/// ┌─►│Not spawned │◄─6┤Not spawned|Run enqueued│
-/// │  │            ├7─►│                        │
-/// │  └─────┬──────┘   └──────▲─────────────────┘
-/// │        1                 │
-/// │        │    ┌────────────┘
-/// │        │    5
-/// │  ┌─────▼────┴─────────┐
-/// │  │Spawned|Run enqueued│
-/// │  │                    │
-/// │  └─────┬▲─────────────┘
-/// │        2│
-/// │        │3
-/// │  ┌─────▼┴─────┐
-/// └─4┤  Spawned   │
-///    │            │
-///    └────────────┘
+/// ┌────────────┐   ┌────────────────────────┐
+/// │Not spawned │◄─5┤Not spawned|Run enqueued│
+/// │            ├6─►│                        │
+/// └─────┬──────┘   └──────▲─────────────────┘
+///       1                 │
+///       │    ┌────────────┘
+///       │    4
+/// ┌─────▼────┴─────────┐
+/// │Spawned|Run enqueued│
+/// │                    │
+/// └─────┬▲─────────────┘
+///       2│
+///       │3
+/// ┌─────▼┴─────┐
+/// │  Spawned   │
+/// │            │
+/// └────────────┘
 /// ```
 ///
 /// Transitions:
 /// - 1: Task is spawned - `AvailableTask::claim -> Executor::spawn`
 /// - 2: During poll - `RunQueue::dequeue_all -> State::run_dequeue`
-/// - 3: Task wakes itself, waker wakes task - `Waker::wake -> wake_task -> State::run_enqueue`
-/// - 4: Task exits - `TaskStorage::poll -> Poll::Ready`
-/// - 5: A run-queued task exits - `TaskStorage::poll -> Poll::Ready`
-/// - 6: Task is dequeued and then ignored via `State::run_dequeue`
-/// - 7: A task is waken when it is not spawned - `wake_task -> State::run_enqueue`
+/// - 3: Task wakes itself, waker wakes task, or task exits - `Waker::wake -> wake_task -> State::run_enqueue`
+/// - 4: A run-queued task exits - `TaskStorage::poll -> Poll::Ready`
+/// - 5: Task is dequeued. The task's future is not polled, because exiting the task replaces its `poll_fn`.
+/// - 6: A task is waken when it is not spawned - `wake_task -> State::run_enqueue`
 pub(crate) struct TaskHeader {
     pub(crate) state: State,
     pub(crate) run_queue_item: RunQueueItem,
@@ -202,16 +201,29 @@ impl<F: Future + 'static> TaskStorage<F> {
         }
     }
 
+    unsafe fn poll_to_despawn(p: TaskRef) {
+        // The task's future has already been dropped, we just mark it as `!SPAWNED`.
+        let this = &*p.as_ptr().cast::<TaskStorage<F>>();
+        this.raw.state.despawn();
+    }
+
     unsafe fn poll(p: TaskRef) {
-        let this = &*(p.as_ptr() as *const TaskStorage<F>);
+        let this = &*p.as_ptr().cast::<TaskStorage<F>>();
 
         let future = Pin::new_unchecked(this.future.as_mut());
         let waker = waker::from_task(p);
         let mut cx = Context::from_waker(&waker);
         match future.poll(&mut cx) {
             Poll::Ready(_) => {
+                waker.wake_by_ref();
+
+                // As the future has finished and this function will not be called
+                // again, we can safely drop the future here.
                 this.future.drop_in_place();
-                this.raw.state.despawn();
+
+                // We replace the poll_fn with a despawn function, so that the task is cleaned up
+                // when the executor polls it next.
+                this.raw.poll_fn.set(Some(Self::poll_to_despawn));
             }
             Poll::Pending => {}
         }
@@ -411,15 +423,6 @@ impl SyncExecutor {
         self.run_queue.dequeue_all(|p| {
             let task = p.header();
 
-            if !task.state.run_dequeue() {
-                // If task is not running, ignore it. This can happen in the following scenario:
-                //   - Task gets dequeued, poll starts
-                //   - While task is being polled, it gets woken. It gets placed in the queue.
-                //   - Task poll finishes, returning done=true
-                //   - RUNNING bit is cleared, but the task is already in the queue.
-                return;
-            }
-
             #[cfg(feature = "trace")]
             trace::task_exec_begin(self, &p);
 

embassy-executor/src/raw/run_queue_atomics.rs

@@ -81,6 +81,7 @@ impl RunQueue {
             // safety: there are no concurrent accesses to `next`
             next = unsafe { task.header().run_queue_item.next.get() };
 
+            task.header().state.run_dequeue();
             on_task(task);
         }
     }

embassy-executor/src/raw/run_queue_critical_section.rs

@@ -63,9 +63,10 @@ impl RunQueue {
             // If the task re-enqueues itself, the `next` pointer will get overwritten.
             // Therefore, first read the next pointer, and only then process the task.
 
-            // safety: we know if the task is enqueued, no one else will touch the `next` pointer.
-            let cs = unsafe { CriticalSection::new() };
-            next = task.header().run_queue_item.next.borrow(cs).get();
+            critical_section::with(|cs| {
+                next = task.header().run_queue_item.next.borrow(cs).get();
+                task.header().state.run_dequeue(cs);
+            });
 
             on_task(task);
         }

embassy-executor/src/raw/state_atomics.rs

@@ -52,8 +52,7 @@ impl State {
 
     /// Unmark the task as run-queued. Return whether the task is spawned.
     #[inline(always)]
-    pub fn run_dequeue(&self) -> bool {
-        let state = self.state.fetch_and(!STATE_RUN_QUEUED, Ordering::AcqRel);
-        state & STATE_SPAWNED != 0
+    pub fn run_dequeue(&self) {
+        self.state.fetch_and(!STATE_RUN_QUEUED, Ordering::AcqRel);
     }
 }

embassy-executor/src/raw/state_atomics_arm.rs

@@ -75,11 +75,9 @@ impl State {
 
     /// Unmark the task as run-queued. Return whether the task is spawned.
     #[inline(always)]
-    pub fn run_dequeue(&self) -> bool {
+    pub fn run_dequeue(&self) {
         compiler_fence(Ordering::Release);
 
-        let r = self.spawned.load(Ordering::Relaxed);
         self.run_queued.store(false, Ordering::Relaxed);
-        r
     }
 }

embassy-executor/src/raw/state_critical_section.rs

@@ -67,11 +67,7 @@ impl State {
 
     /// Unmark the task as run-queued. Return whether the task is spawned.
     #[inline(always)]
-    pub fn run_dequeue(&self) -> bool {
-        self.update(|s| {
-            let ok = *s & STATE_SPAWNED != 0;
-            *s &= !STATE_RUN_QUEUED;
-            ok
-        })
+    pub fn run_dequeue(&self, cs: CriticalSection<'_>) {
+        self.update_with_cs(cs, |s| *s &= !STATE_RUN_QUEUED)
     }
 }

embassy-executor/tests/test.rs

@@ -69,6 +69,7 @@ fn executor_task() {
         &[
             "pend",       // spawning a task pends the executor
             "poll task1", // poll only once.
+            "pend",       // task is done, wakes itself to exit
         ]
     )
 }
@@ -179,6 +180,7 @@ fn waking_after_completion_does_not_poll() {
             "pend",       // manual wake, single pend for two wakes
             "pend",       // respawning a task pends the executor
             "poll task1", //
+            "pend",       // task is done, wakes itself to exit
         ]
     )
 }
@@ -266,6 +268,7 @@ fn waking_with_old_waker_after_respawn() {
             "yield_now",  //
             "pend",       // manual wake, gets cleared by poll
             "poll task1", //
+            "pend",       // task is done, wakes itself to exit
         ]
     );
 }